CN101852607A - Rotary laser visual linear array space identification and positioning system - Google Patents
Rotary laser visual linear array space identification and positioning system Download PDFInfo
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Abstract
The invention relates to a rotary laser visual linear array space identification and positioning system, which belongs to the field of mode identification and artificial intelligence. The system comprises a laser linear array emission module, a holder laser-receiving module, a CCD linear array acquisition module, a principal-axis rotation module, a three-dimensional information processor and an auxiliary module. The laser linear array is used for ranging, the CCD linear array is used for acquiring colors, the high-subdivision principal-axis rotation module is used for carrying out 360-degree rotary scanning to acquire high-precision three-dimensional position data and two-dimensional color images, the three-dimensional information processor is used for synthesizing the three-dimensional position and color data (X, Y, Z, RGB) of all the pixel points in the rotating space, and the synthesized data can be directly used for mixing identification and intelligence applications, or can be outputted to a third-party user via RJ45 or wireless 3G. The system is characterized by high precision, wide scanning range, high environment adaptability, wide application range, simple implementation technique and the like.
Description
Technical field:
The present invention relates to a kind of rotary laser visual linear array space identification and positioning system, belong to pattern-recognition and artificial intelligence field, be used for precisely obtaining at a high speed target object spatial three-dimensional position color data.
Background technology:
At present, it is more and more wider that space identification is positioned at field ranges of application such as pattern-recognition, high Precision Detection, robotization and artificial intelligence, also plays a part very important to the development of industry.Existing space orientation is used the planar array type spatial digitizer mostly or is imaged as the three-dimensional location data that main means obtain target object based on used for multi-vision visual, method commonly used is that scanner is placed an ad-hoc location, adjust environment light source and scanning distance to guarantee target object in viewfinder range, there is following defective in this kind mode:
1. spatial positioning accuracy is low: owing to adopt planar array scanning, utilize the pixel of face battle array to decide the resolution of measured target object, because processing technology complexity, the valid pixel 1280 * 1024 of face battle array has been than higher, obviously, can't satisfy high precision space orientation, for generally remote even very difficult measurement beyond 5 meters of used for multi-vision visual imaging;
2. there is limitation in sweep limit: present method all is based on the face battle array and designs, because the valid pixel of face battle array is certain, under the preceding topic that guarantees scanning accuracy, can not enlarge sweep limit again;
3. environmental suitability is poor: based on the used for multi-vision visual imaging technique, environment light source and scanning distance change to the space orientation influence greatly, and coverage is also restricted;
4. it is poor that the locus color synthesizes and mix recognition capability: spatial digitizer is to utilize the rectilinear propagation of laser and laser distance measuring principle to carry out space orientation, feedback does not contain color information, be difficult to realize the synthetic of color and locus by lasing area battle array or CCD face battle array monotechnics, more impossible mix to discern by three dimensions identification and two dimensional image identification improve the precision of identification;
For improve space identification bearing accuracy, sweep limit more flexibly, adaptive capacity to environment is stronger, it is synthetic and mix recognition capability to help the position color more, the present invention proposes a kind of brand-new spatial three-dimensional positioning method and use a kind of rotary laser visual linear array space identification and positioning system that this method realizes.
Summary of the invention:
Purpose of the present invention is to overcome the deficiencies in the prior art and defective exactly, proposed a kind of brand-new space three-dimensional recognition positioning method and used a kind of rotary laser visual linear array space identification and positioning system that this method realizes, the present invention is achieved by the following technical solutions:
Whole system is made up of laser linear array transmitter module 1, The Cloud Terrace laser pick-off module 2, CCD linear array acquisition module 3, main axis rotation module 4, steric information processor 5 and accessory module 6 six major parts.
Laser linear array transmitter module 1 is made up of laser parallel light source 11, laser linear array screen 12, laser linear array lens of variable focal length group 13 and laser linear array controller 14.Laser parallel light source 11 used in the present invention also is the laser parallel light pipe; Laser linear array screen 12 is to be core devices with the permeation type liquid crystal linear array, compares with liquid crystal face battle array, and the pixel count of liquid crystal linear array will also can use reflective liquid crystal linear array or micro mirror DMD linear array to realize this function far above the single row of pixels number of liquid crystal face battle array as required; The high speed circuit controller that laser linear array controller 14 is made up of as main element DSP and CPLD, opening and closing in order to control linear array screen 12 pixels; Laser linear array lens of variable focal length group 13 is one group of optical lens, is similar to camera lens, can come the conversion focal length according to sweep limit, target object 8 far and near variations, and lens combination 13 is replaceable, with linear array screen 12 for being threaded.Concrete structure as shown in Figure 1, laser parallel light source 11, laser linear array screen 12, laser linear array lens of variable focal length group 13 series arrangement.
The Cloud Terrace laser pick-off module 2 is made up of laser pickoff 21, laser pick-off lens of variable focal length group 22 and laser pick-off angle The Cloud Terrace 23.Laser pick-off angle The Cloud Terrace 23 can be adjusted the optimum reception scope according to laser linear array 12 transmit directions, carries out centralized control by steric information processor 5; Laser pick-off lens of variable focal length group 22 principles are with laser linear array lens of variable focal length group 13.
CCD linear array acquisition module 3 is made up of CCD linear array collector 31 and CCD linear array lens of variable focal length group 32.
Main axis rotation module 4 is made up of rotating disc 42, servomotor 45, reductor 43, turning axle high precision angular encoder 41, rotating disk rolling balance device 44 and mounting platform 46, concrete structure is (Fig. 2): reductor 43 is installed on the servomotor 45, coaxial with servomotor 45, be used for improving servomotor 45 circumference segmentation number and eliminate machine error; Turning axle high precision angular encoder 41 is fixing with mounting platform 46, the interior center of circle and reductor 43 coaxial installations, and in order to detect rotating disc 42 actual displacement angles, signal directly feeds back in steric information processor 5; Rotating disk rolling balance device 44 is installed on rotating disc 42 lower planes, with plane rolling friction on the mounting platform 46.
Accessory module 6 forms 62 by ventilating system 61 and counterweight.Ventilating system 61 can be accelerated the circulation of main frame body 7 inner airs and play cooling effect, and counterweight 62 is used for adjusting main frame body 7 weight insides and reaches balance, guarantees rotation steadily, more helps precision control.
Its main technical schemes is:
Linear array scanning: the preliminary sweep point with laser linear array transmitter module 1 and The Cloud Terrace laser pick-off module 2 is the 3 d space coordinate initial point, obtain range data and the spatial three-dimensional position data of laser linear array screen 12 each pixel by laser linear array transmitter module 1 and The Cloud Terrace laser pick-off module 2 utilization laser distance measuring principles to target object 8, image acquisition units 51 is gathered high precision linear array color image data by CCD linear array collector 31 simultaneously, and data storage is in the database of steric information processor 5.
The rotation segmentation: (n is predefined scanning accuracy segmentation to main axis rotation module 4 with specific corner ab/n at every turn according to predefined rotation sweep angle a, b is the reductor reduction gear ratio, the n value is big more, scanning resolution is high more) carry out step-by-step movement rotation linear array scanning (Fig. 6), turning axle high precision angular encoder 41 detects in real time in this process, abnormal alarm, up to reaching rotation sweep angle a, angle a can be 360 degree as required, so far rotation sweep work is finished, and data acquisition and measurement finish.
Data are synthetic: spatial three-dimensional position data of obtaining through main axis rotation module 4 rotation sweeps and two-dimentional color image data are removed and are made an uproar and pre-service such as filtering, the two-dimentional color image that obtains is utilized image processing techniques conversion ratio and side-play amount and spatial three-dimensional position Data Matching, the spatial three-dimensional position and the color data (X, Y, Z, RGB) that synthesize all pixels in the revolution space through steric information processor 5, data after synthetic can be directly used in mixes identification and intelligent use, also can export to third party user by RJ45 or wireless 3G.
The invention has the beneficial effects as follows:
1. high precisely space three-dimensional location: utilize two-dimentional high pixel linear array scanning, through too high segmentation main axis rotation module 4, realize high precision space three-dimensional location, it is infinitely great that theoretical precision can reach;
2.360 degree spacescan: can implement 360 degree omnibearing stereo formula scannings to space environment by main axis rotation module 4;
3. environmental suitability is stronger: be subjected to factor affecting such as environment light source and scanning distance less, even not influence;
4. range of application is wider: can directly output information be applied to fields such as space environment identification, industrial robot, automation equipment, detecting instrument, reverse-engineering, AGV dolly and artificial intelligence;
5. realize that technology is simple: linear array processing technology phase specific surface battle array is simple, be easy to process high-quality product, and cost is low, and other driving element such as servomotor 45, reductor 43 and angular encoder 41 etc. are standard component, and technology is comparatively ripe, implements relatively easy.
Description of drawings:
Fig. 1: system host body plan structure figure
Fig. 2: system spindle rotary module left view
Fig. 3: the control principle figure of system
Fig. 4: system's master routine control flow chart
Fig. 5: system's linear array acquisition scans synoptic diagram
Fig. 6: system space stereoscanning synoptic diagram
Wherein:
1-laser linear array transmitter module 2-The Cloud Terrace laser pick-off module 3-CCD linear array acquisition module 4-main axis rotation module
5-steric information processor 6-accessory module 7-main frame body 8-target object 11-laser parallel light source
12-laser linear array screen 13-laser linear array lens of variable focal length group 21-laser pickoff
22-laser pick-off lens of variable focal length group 23-laser pick-off angle The Cloud Terrace 31-CCD linear array collector
32-CCD linear array lens of variable focal length group 41-turning axle high precision angular encoder 42-rotating disc 43-reductor
44-rotation rolling balance device 45-servomotor 46-mounting platform 51-image acquisition units
61-ventilating system 62-counterweight
Embodiment:
Be further described below in conjunction with 4 pairs of rotary laser visual linear array space identification and positioning systems of accompanying drawing, the specific implementation step is as follows:
The first step: preliminary work, adjust each lens combination (12,22,32) to determine the best viewfinder range of scanning target 8 vertical linear arrays, determine initial scan origin position, input rotation sweep angle a and scanning accuracy segmentation n;
Second step: laser linear array 1 point by point scanning range finding, according to initial scan origin position calculation 3 d space coordinate position, color information is obtained in 3 scannings of CCD linear array, deposits the information data of obtaining in steric information processor 5 databases;
The 3rd step: wait for the linear array been scanned, (n is predefined scanning accuracy segmentation to servomotor 45 rotation segmentation angle ab/n, b is reductor 43 reduction gear ratio, the n value is big more, scanning resolution is high more), judge that laser pick-off angle The Cloud Terrace 23 whether in the laser pick-off scope, do not adjust laser pick-off angle The Cloud Terrace 23 positions in range of receiving;
The 4th step: wait for that servomotor 45 segmentation angle ab/n rotations are finished to adjust with laser pick-off angle The Cloud Terrace 23 and finish, check whether the turning axle high-precision encoder 41 actual anglecs of rotation conform to the point of theory of servomotor 45, promptly actual anglec of rotation detection;
The 5th step: second step of circulation, the 3rd step, the 4th step, detect the actual anglec of rotation more than or equal to first step rotation sweep angle a up to turning axle high-precision encoder 41;
The 6th step: read space three-dimensional location data and two-dimentional color image data in steric information processor 5 databases, ratio by conversion two dimension color image and side-play amount and spatial three-dimensional position coordinate mate, again with spatial three-dimensional position data and two-dimentional color data blended space three-dimensional position color information (X, Y, H, RGB);
The 7th step: for the function expansion of option, native system, carry out the pattern-recognition of target, respective change is arranged, can directly change for the 8th step over to as not carrying out identifying operation according to the target different mode recognition subroutine of discerning;
The 8th step: information data after will synthesizing or the data after the pattern-recognition are exported to third party user by RJ45 or wireless 3G module.
Claims (2)
1. rotary laser visual linear array space identification and positioning system, comprise the laser linear array transmitter module, The Cloud Terrace laser pick-off module, CCD linear array acquisition module, the main axis rotation module, steric information processor and accessory module six major parts, wherein the laser linear array transmitter module is by the laser parallel light source, the laser linear array screen, laser linear array lens of variable focal length group and laser linear array controller are formed, The Cloud Terrace laser pick-off module is by laser pickoff, laser pick-off lens of variable focal length group and laser pick-off angle The Cloud Terrace are formed, CCD linear array acquisition module is made up of CCD linear array collector and CCD linear array lens of variable focal length group, the main axis rotation module is by rotating disc, servomotor, reductor, turning axle high precision angular encoder, rotating disk rolling balance device and mounting platform are formed, accessory module is made up of ventilating system and counterweight, it is characterized in that:
The laser linear array screen is a core devices with the permeation type liquid crystal linear array in the described laser linear array transmitter module, also can use reflective liquid crystal linear array or micro mirror DMD linear array to realize this function, and principle is identical;
Described The Cloud Terrace laser pick-off module is adjusted the laser pick-off angle by Automatic Program;
Described CCD linear array acquisition module can carry out the linear array collection with the common rotation of main axis rotation module;
Described main axis rotation module can realize that with the laser linear array screen be arbitrarily angled rotation sweep in the 360 degree scopes of center line;
Described steric information processor can be finished programmed control, storage, communication and human-computer interaction function, and image acquisition units is positioned at the steric information processor.
2. a kind of laser linear array and CCD linear array space multistory synthetic method have been adopted according to claim 1 described rotary laser visual linear array space identification and positioning system, it is characterized in that: range finding of utilization laser linear array and CCD linear array color are gathered, realize that through too high segmentation main axis rotation module 360 degree rotation sweeps obtain high precisely three-dimensional location data and two-dimentional color image, the two-dimentional color image that obtains is utilized image processing techniques conversion ratio and side-play amount and spatial three-dimensional position Data Matching, the spatial three-dimensional position and the color data (X that synthesize all pixels in the revolution space through the steric information processor, Y, Z, RGB), data after synthetic can be directly used in mixes identification and intelligent use, also can export to third party user by RJ45 or wireless 3G.
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| CN102830704A (en) * | 2012-09-19 | 2012-12-19 | 苏州工业园区职业技术学院 | Single drive manual loading and unloading automatic guided vehicle (AGV) control system |
| CN103376096A (en) * | 2012-04-27 | 2013-10-30 | 鸿富锦精密工业（深圳）有限公司 | 3D (three-dimensional) laser position indicator |
| CN103455145A (en) * | 2013-08-30 | 2013-12-18 | 哈尔滨工业大学 | Sensor combination device for three-dimensional environment sensing |
| CN103530642A (en) * | 2012-08-21 | 2014-01-22 | 深圳市中金岭南有色金属股份有限公司凡口铅锌矿 | Detonator automatic recognition machine and detonator coding image recognition method |
| CN103801989A (en) * | 2014-03-10 | 2014-05-21 | 太原理工大学 | Airborne automatic measurement system for determining origin of coordinates of workpiece according to image processing |
| CN104296727A (en) * | 2014-10-10 | 2015-01-21 | 中国科学院长春光学精密机械与物理研究所 | Time synchronization method and system of LMCCD camera |
| CN104897067A (en) * | 2015-06-19 | 2015-09-09 | 天津大学 | Laser image real time monitoring method measuring relative displacement |
| CN106443697A (en) * | 2015-08-06 | 2017-02-22 | 信泰光学(深圳)有限公司 | Self-propelled device and environment distance measuring device thereof |
| CN106842220A (en) * | 2017-02-16 | 2017-06-13 | 国网安徽省电力公司凤台县供电公司 | A kind of visual linear parameter measuring apparatus of power equipment based on fuzzy intelligence |
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| CN103376096A (en) * | 2012-04-27 | 2013-10-30 | 鸿富锦精密工业（深圳）有限公司 | 3D (three-dimensional) laser position indicator |
| CN103530642B (en) * | 2012-08-21 | 2016-03-09 | 深圳市中金岭南有色金属股份有限公司凡口铅锌矿 | The automatic cognitron of detonator and detonator coding image-recognizing method |
| CN103530642A (en) * | 2012-08-21 | 2014-01-22 | 深圳市中金岭南有色金属股份有限公司凡口铅锌矿 | Detonator automatic recognition machine and detonator coding image recognition method |
| CN102830704A (en) * | 2012-09-19 | 2012-12-19 | 苏州工业园区职业技术学院 | Single drive manual loading and unloading automatic guided vehicle (AGV) control system |
| CN103455145A (en) * | 2013-08-30 | 2013-12-18 | 哈尔滨工业大学 | Sensor combination device for three-dimensional environment sensing |
| CN103455145B (en) * | 2013-08-30 | 2016-05-04 | 哈尔滨工业大学 | A kind of sensor assemblies for three-dimensional environment perception |
| CN103801989A (en) * | 2014-03-10 | 2014-05-21 | 太原理工大学 | Airborne automatic measurement system for determining origin of coordinates of workpiece according to image processing |
| CN104296727A (en) * | 2014-10-10 | 2015-01-21 | 中国科学院长春光学精密机械与物理研究所 | Time synchronization method and system of LMCCD camera |
| CN104897067A (en) * | 2015-06-19 | 2015-09-09 | 天津大学 | Laser image real time monitoring method measuring relative displacement |
| CN106443697A (en) * | 2015-08-06 | 2017-02-22 | 信泰光学(深圳)有限公司 | Self-propelled device and environment distance measuring device thereof |
| CN106842220A (en) * | 2017-02-16 | 2017-06-13 | 国网安徽省电力公司凤台县供电公司 | A kind of visual linear parameter measuring apparatus of power equipment based on fuzzy intelligence |
| CN107271984A (en) * | 2017-06-16 | 2017-10-20 | 陈明 | A kind of scan method of all-solid state laser radar |
| CN108088382A (en) * | 2017-08-11 | 2018-05-29 | 深圳慎始科技有限公司 | A kind of directional light shaft type folding wedge three-dimensional image forming apparatus |
| CN108007390A (en) * | 2017-11-17 | 2018-05-08 | 北京长峰科威光电技术有限公司 | A kind of pendulum mirror linearity test system based on CCD |
| CN110132225A (en) * | 2019-05-10 | 2019-08-16 | 西安电子科技大学 | The tilting non co axial lens range unit of monocular |
| CN111060925A (en) * | 2019-12-10 | 2020-04-24 | 桂林理工大学 | Variable laser radar scanning angle device |
| CN111238451A (en) * | 2020-03-04 | 2020-06-05 | 中国科学院长春光学精密机械与物理研究所 | Imaging turntable of linear array camera |
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